Measurement Scheduling for Control Invariance in Networked Control Systems
Measurement Scheduling for Control Invariance in Networked Control Systems
复制标题
网络控制系统中控制不变性的测量调度
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
P. Falcone
中科院分区：
文献类型：
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作者：
A. Colombo;M. Bahraini;P. Falcone
我们讨论了一个新的网络受控系统的可达性问题，其中主节点-控制器-向一组从节点广播命令，这些从节点必须轮流传递回状态测量。这个问题在一些机器人和智能交通系统的设置中得到了应用。通信的约束要求控制器和测量时间表的耦合设计。我们从调度理论上证明了该问题与风轮问题形式上等价，并在此基础上给出了可调度和可达的条件。文中给出了三个数值算例。
We discuss a new reachability problem for networked controlled system where a master node —the controller— broadcasts commands to a set of slave nodes, which must take turn to relay back state measurements. This problem finds applications in some robotics and intelligent transportation systems setups. Constraints on communication demand a coupled design of the controller and the measurement schedule. We prove that the problem is formally equivalent to the Pinwheel Problem from scheduling theory, and building on this result we provide conditions for schedulability and reachability. The results are illustrated in three numerical examples.